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Rebase changes on upstream master

Browse Source 
This brings in many of the changes from the PX4 fork on ATLFLight.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2016-01-18 23:16:31 -08:00
committed by Julian Oes
parent efe9344fc2
commit 9f3bf8e9f4
71 changed files with 2734 additions and 564 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.gitmodules
-3
View File
@@ -13,9 +13,6 @@
[submodule "Tools/gencpp"]
path = Tools/gencpp
url = https://github.com/ros/gencpp.git
[submodule "src/lib/dspal"]
path = src/lib/dspal
url = https://github.com/ATLFlight/dspal.git
[submodule "Tools/jMAVSim"]
path = Tools/jMAVSim
url = https://github.com/PX4/jMAVSim.git
CMakeLists.txt
+7 -2
View File
@@ -243,12 +243,12 @@ px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")
px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
add_custom_target(submodule_clean
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
@@ -293,6 +293,7 @@ px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags}" GLUE " ")
px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")
include_directories(${include_dirs})
message("INCLUDE_DIRS=${include_dirs}")
link_directories(${link_dirs})
add_definitions(${definitions})
@@ -329,7 +330,11 @@ execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)
#
set(module_libraries)
foreach(module ${config_module_list})
add_subdirectory(src/${module})
if(module MATCHES "Eagle")
add_subdirectory(${module} ${CMAKE_BINARY_DIR}/${module})
else()
add_subdirectory(src/${module})
endif()
px4_mangle_name(${module} mangled_name)
list(APPEND module_libraries ${mangled_name})
#message(STATUS "adding module: ${module}")
Makefile
+4 -1
View File
@@ -155,6 +155,9 @@ posix_sitl_ekf2:
ros_sitl_default:
@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead."
ros_sitl_default:
$(call cmake-build,$@)
qurt_eagle_travis:
$(call cmake-build,$@)
@@ -163,7 +166,7 @@ qurt_eagle_release:
posix_eagle_release:
$(call cmake-build,$@)
qurt_eagle_default:
$(call cmake-build,$@)
cmake/cmake_hexagon
+1 -1
Submodule cmake/cmake_hexagon updated: 829f22eff3...720078ffe4
cmake/common/px4_base.cmake
+9 -8
View File
@@ -90,7 +90,7 @@ include(CMakeParseArguments)
# endfunction()
#
# test(NAME "hello" LIST a b c)
#
#
# OUTPUT:
# name: hello
# list: a b c
@@ -349,11 +349,11 @@ function(px4_generate_messages)
list(APPEND msg_files_out ${msg_out_path}/${msg}.h)
endforeach()
add_custom_command(OUTPUT ${msg_files_out}
COMMAND ${PYTHON_EXECUTABLE}
COMMAND ${PYTHON_EXECUTABLE}
Tools/px_generate_uorb_topic_headers.py
${QUIET}
-d msg
-o ${msg_out_path}
-o ${msg_out_path}
-e msg/templates/uorb
-t ${CMAKE_BINARY_DIR}/topics_temporary
DEPENDS ${DEPENDS} ${MSG_FILES}
@@ -370,11 +370,11 @@ function(px4_generate_messages)
list(APPEND msg_multi_files_out ${msg_multi_out_path}/px4_${msg}.h)
endforeach()
add_custom_command(OUTPUT ${msg_multi_files_out}
COMMAND ${PYTHON_EXECUTABLE}
COMMAND ${PYTHON_EXECUTABLE}
Tools/px_generate_uorb_topic_headers.py
${QUIET}
-d msg
-o ${msg_multi_out_path}
-o ${msg_multi_out_path}
-e msg/templates/px4/uorb
-t ${CMAKE_BINARY_DIR}/multi_topics_temporary/${OS}
-p "px4_"
@@ -556,6 +556,7 @@ function(px4_add_common_flags)
-funsafe-math-optimizations
-ffunction-sections
-fdata-sections
-fPIC
)
endif()
@@ -685,7 +686,7 @@ endfunction()
# Input:
# dirname : path to module dir
#
# Output:
# Output:
# newname : module name
#
# Example:
@@ -716,8 +717,8 @@ endfunction()
function(px4_create_git_hash_header)
px4_parse_function_args(
NAME px4_create_git_hash_header
ONE_VALUE HEADER
REQUIRED HEADER
ONE_VALUE HEADER
REQUIRED HEADER
ARGN ${ARGN})
execute_process(
COMMAND git rev-parse HEAD
cmake/configs/nuttx_px4fmu-v2_default.cmake
+1
View File
@@ -83,6 +83,7 @@ set(config_module_list
modules/attitude_estimator_q
modules/ekf_att_pos_estimator
modules/position_estimator_inav
modules/ekf2
#
# Vehicle Control
cmake/configs/posix_eagle_default.cmake
+3
View File
@@ -1,6 +1,9 @@
include(posix/px4_impl_posix)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
set(CONFIG_SHMEM "1")
set(config_module_list
drivers/device
cmake/configs/posix_eagle_release.cmake
+9
View File
@@ -16,8 +16,14 @@ set(CMAKE_PROGRAM_PATH
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
set(CONFIG_SHMEM "1")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DENABLE_SHMEM")
set(config_module_list
drivers/device
drivers/boards/sitl
drivers/led
systemcmds/param
systemcmds/ver
@@ -28,6 +34,9 @@ set(config_module_list
modules/systemlib
modules/uORB
modules/dataman
modules/sdlog2
modules/simulator
modules/commander
lib/mathlib
lib/mathlib/math/filter
cmake/configs/qurt_eagle_release.cmake
+30 -10
View File
@@ -1,18 +1,38 @@
include(qurt/px4_impl_qurt)
if ("${HEXAGON_DRIVERS_ROOT}" STREQUAL "")
message(FATAL_ERROR "HEXAGON_DRIVERS_ROOT is not set")
if ("$ENV{EAGLE_ADDON_ROOT}" STREQUAL "")
message(FATAL_ERROR "Enviroment variable EAGLE_ADDON_ROOT must be set")
else()
set(EAGLE_ADDON_ROOT $ENV{EAGLE_ADDON_ROOT})
endif()
if ("${EAGLE_DRIVERS_SRC}" STREQUAL "")
message(FATAL_ERROR "EAGLE_DRIVERS_SRC is not set")
if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
else()
set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
endif()
include_directories(${HEXAGON_DRIVERS_ROOT}/inc)
if ("$ENV{EAGLE_DRIVERS_SRC}" STREQUAL "")
message(FATAL_ERROR "Environment variable EAGLE_DRIVERS_SRC must be set")
else()
set(EAGLE_DRIVERS_SRC $ENV{EAGLE_DRIVERS_SRC})
endif()
STRING(REGEX REPLACE "//" "/" EAGLE_DRIVERS_SRC ${EAGLE_DRIVERS_SRC})
STRING(REGEX REPLACE "/" "__" EAGLE_DRIVERS_MODULE_PREFIX ${EAGLE_DRIVERS_SRC})
include_directories(${EAGLE_ADDON_ROOT}/flight_controller/hexagon/inc)
include_directories(${HEXAGON_SDK_ROOT}/lib/common/qurt/ADSPv5MP/include)
message("hexagon_sdk_root is ${HEXAGON_SDK_ROOT}")
set(QURT_ENABLE_STUBS "0")
set(CONFIG_SHMEM "1")
# For Actual flight we need to link against the driver dynamic libraries
set(target_libraries
-L${HEXAGON_DRIVERS_ROOT}/libs
-L${EAGLE_ADDON_ROOT}/flight_controller/hexagon/libs
mpu9x50
uart_esc
csr_gps
@@ -29,10 +49,10 @@ set(config_module_list
#
drivers/device
modules/sensors
$(EAGLE_DRIVERS_SRC)/mpu9x50
$(EAGLE_DRIVERS_SRC)/uart_esc
$(EAGLE_DRIVERS_SRC)/rc_receiver
$(EAGLE_DRIVERS_SRC)/csr_gps
${EAGLE_DRIVERS_SRC}/mpu9x50
${EAGLE_DRIVERS_SRC}/uart_esc
${EAGLE_DRIVERS_SRC}/rc_receiver
${EAGLE_DRIVERS_SRC}/csr_gps
#
# System commands
cmake/configs/qurt_eagle_travis.cmake
+9 -1
View File
@@ -1,11 +1,19 @@
include(qurt/px4_impl_qurt)
# Run a full link with build stubs to make sure qurt target isn't broken
set(QURT_ENABLE_STUBS "1")
set(QURT_ENABLE_STUBS "0")
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
else()
set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
endif()
include_directories(${HEXAGON_SDK_ROOT}/lib/common/qurt/ADSPv5MP/include)
set(config_module_list
drivers/device
drivers/boards/sitl
cmake/posix/px4_impl_posix.cmake
+22
View File
@@ -182,6 +182,7 @@ if(UNIX AND APPLE)
else()
set(added_definitions
-D__PX4_POSIX
-D__PX4_LINUX
@@ -196,12 +197,33 @@ else()
)
endif()
if ("${BOARD}" STREQUAL "eagle")
if ("$ENV{HEXAGON_ARM_SYSROOT}" STREQUAL "")
message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set")
else()
set(HEXAGON_ARM_SYSROOT $ENV{HEXAGON_ARM_SYSROOT})
endif()
# Add the toolchain specific flags
set(HEXAGON_ARM_SYSROOT ${HEXAGON_SDK_ROOT}/sysroot)
set(added_cflags ${POSIX_CMAKE_C_FLAGS} --sysroot=${HEXAGON_ARM_SYSROOT})
set(added_cxx_flags ${POSIX_CMAKE_CXX_FLAGS} --sysroot=${HEXAGON_ARM_SYSROOT})
list(APPEND added_exe_linker_flags
-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/usr/lib/arm-linux-gnueabihf
-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib/arm-linux-gnueabihf
--sysroot=${HEXAGON_ARM_SYSROOT}
)
else()
# Add the toolchain specific flags
set(added_cflags ${POSIX_CMAKE_C_FLAGS})
set(added_cxx_flags ${POSIX_CMAKE_CXX_FLAGS})
endif()
# output
foreach(var ${inout_vars})
string(TOLOWER ${var} lower_var)
cmake/qurt/apps.h_in
+2 -2
View File
@@ -36,9 +36,9 @@ ${builtin_apps_string}
void list_builtins(map<string,px4_main_t> &apps)
{
printf("Builtin Commands:\\n");
PX4_INFO("Builtin Commands:\\n");
for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
printf("\\t%s\\n", (it->first).c_str());
PX4_INFO("%s : 0x%x\n", (it->first).c_str(), it->second);
}
static int shutdown_main(int argc, char *argv[])
cmake/qurt/px4_impl_qurt.cmake
+2 -2
View File
@@ -158,7 +158,7 @@ function(px4_os_add_flags)
LINK_DIRS ${LINK_DIRS}
DEFINITIONS ${DEFINITIONS})
set(DSPAL_ROOT src/lib/dspal)
set(DSPAL_ROOT src/lib/DriverFramework/dspal)
set(added_include_dirs
${DSPAL_ROOT}/include
${DSPAL_ROOT}/sys
@@ -222,7 +222,7 @@ function(px4_os_prebuild_targets)
ONE_VALUE OUT BOARD THREADS
REQUIRED OUT BOARD
ARGN ${ARGN})
add_custom_target(${OUT} DEPENDS git_dspal)
add_custom_target(${OUT} DEPENDS git_driverframework)
endfunction()
cmake/qurt/qurt_funcs.cmake
-1
View File
@@ -45,4 +45,3 @@
#
# The macros are called from the top level CMakeLists.txt
#
px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")
cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake
+21 -3
View File
@@ -17,6 +17,12 @@
include(CMakeForceCompiler)
if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
message(FATAL_ERROR "HEXAGON_SDK_ROOT not set")
else()
set(HEXAGON_TOOLS_ROOT $ENV{HEXAGON_SDK_ROOT})
endif()
# this one is important
set(CMAKE_SYSTEM_NAME Generic)
@@ -24,13 +30,19 @@ set(CMAKE_SYSTEM_NAME Generic)
set(CMAKE_SYSTEM_VERSION 1)
# specify the cross compiler
find_program(C_COMPILER arm-linux-gnueabihf-gcc)
find_program(C_COMPILER arm-linux-gnueabihf-gcc
PATHS ${HEXAGON_SDK_ROOT}/gcc-linaro-arm-linux-gnueabihf-4.8-2013.08_linux/bin
NO_DEFAULT_PATH
)
if(NOT C_COMPILER)
message(FATAL_ERROR "could not find arm-linux-gnueabihf-gcc compiler")
endif()
cmake_force_c_compiler(${C_COMPILER} GNU)
find_program(CXX_COMPILER arm-linux-gnueabihf-g++)
find_program(CXX_COMPILER arm-linux-gnueabihf-g++
PATHS ${HEXAGON_SDK_ROOT}/gcc-linaro-arm-linux-gnueabihf-4.8-2013.08_linux/bin
NO_DEFAULT_PATH
)
if(NOT CXX_COMPILER)
message(FATAL_ERROR "could not find arm-linux-gnueabihf-g++ compiler")
endif()
@@ -39,7 +51,10 @@ cmake_force_cxx_compiler(${CXX_COMPILER} GNU)
# compiler tools
foreach(tool objcopy nm ld)
string(TOUPPER ${tool} TOOL)
find_program(${TOOL} arm-linux-gnueabihf-${tool})
find_program(${TOOL} arm-linux-gnueabihf-${tool}
PATHS ${HEXAGON_SDK_ROOT}/gcc-linaro-arm-linux-gnueabihf-4.8-2013.08_linux/bin
NO_DEFAULT_PATH
)
if(NOT ${TOOL})
message(FATAL_ERROR "could not find arm-linux-gnueabihf-${tool}")
endif()
@@ -54,8 +69,11 @@ foreach(tool echo patch grep rm mkdir nm genromfs cp touch make unzip)
endif()
endforeach()
set(C_FLAGS "--sysroot=${HEXAGON_SDK_ROOT}/sysroot")
set(LINKER_FLAGS "-Wl,-gc-sections")
set(CMAKE_EXE_LINKER_FLAGS ${LINKER_FLAGS})
set(CMAKE_C_FLAGS ${C_FLAGS})
set(CMAKE_CXX_LINKER_FLAGS ${C_FLAGS})
# where is the target environment
set(CMAKE_FIND_ROOT_PATH get_file_component(${C_COMPILER} PATH))
posix-configs/eagle/200qx/mainapp-calib.config
+8
View File
@@ -0,0 +1,8 @@
uorb start
muorb start
mavlink start -u 14556
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50
mavlink boot_complete
commander start
posix-configs/eagle/200qx/mainapp-flight.config
+7
View File
@@ -0,0 +1,7 @@
uorb start
muorb start
mavlink start -u 14556
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50
mavlink boot_complete
posix-configs/eagle/200qx/px4-calib.config
+72
View File
@@ -0,0 +1,72 @@
uorb start
param set CAL_GYRO0_ID 2293760
param set CAL_ACC0_ID 1310720
param set CAL_ACC1_ID 1376256
param set CAL_MAG0_ID 196608
param set RC_RECEIVER_TYPE 1
rc_receiver start -D /dev/tty-1
attitude_estimator_q start
position_estimator_inav start
mc_pos_control start
mc_att_control start
sleep 1
param set SYS_AUTOSTART 4001
param set SYS_AUTOCONFIG 1
param set MAV_TYPE 2​
param set RC_MAP_THROTTLE 1
param set RC_MAP_ROLL 2
param set RC_MAP_PITCH 3
param set RC_MAP_YAW 4
param set RC_MAP_MODE_SW 5
param set RC_MAP_POSCTL_SW 6
param set RC1_MAX 1900
param set RC1_MIN 1099
param set RC1_TRIM 1099
param set RC1_REV 1
param set RC2_MAX 1900
param set RC2_MIN 1099
param set RC2_TRIM 1500
param set RC2_REV -1
param set RC3_MAX 1900
param set RC3_MIN 1099
param set RC3_TRIM 1500
param set RC3_REV 1
param set RC4_MAX 1900
param set RC4_MIN 1099
param set RC4_TRIM 1500
param set RC4_REV -1
param set RC5_MAX 1900
param set RC5_MIN 1099
param set RC5_TRIM 1500
param set RC5_REV 1
param set RC6_MAX 1900
param set RC6_MIN 1099
param set RC6_TRIM 1099
param set RC6_REV 1
sensors start
param set MC_YAW_P 7.0
param set MC_YAWRATE_P 0.08
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.08
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.0001
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.08
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.0001
param set ATT_W_MAG 0.00
param set PE_MAG_NOISE 1.0f
param set SENS_BOARD_ROT 0
param set MPU_GYRO_LPF_ENUM 4
param set MPU_ACC_LPF_ENUM 4
param set MPU_SAMPLE_RATE_ENUM 2
sleep 1
mpu9x50 start -D /dev/spi-1
uart_esc start -D /dev/tty-2
csr_gps start -D /dev/tty-3
list_devices
list_files
list_tasks
list_topics
posix-configs/eagle/200qx/px4-flight.config
+80
View File
@@ -0,0 +1,80 @@
uorb start
param set CAL_GYRO0_ID 2293760
param set CAL_ACC0_ID 1310720
param set CAL_ACC1_ID 1376256
param set CAL_MAG0_ID 196608
commander start
param set RC_RECEIVER_TYPE 1
rc_receiver start -D /dev/tty-1
attitude_estimator_q start
position_estimator_inav start
mc_pos_control start
mc_att_control start
sleep 1
param set SYS_AUTOSTART 4001
param set SYS_AUTOCONFIG 1
param set MAV_TYPE 2​
param set RC_MAP_THROTTLE 1
param set RC_MAP_ROLL 2
param set RC_MAP_PITCH 3
param set RC_MAP_YAW 4
param set RC_MAP_MODE_SW 5
param set RC_MAP_POSCTL_SW 6
param set RC1_MAX 1900
param set RC1_MIN 1099
param set RC1_TRIM 1099
param set RC1_REV 1
param set RC2_MAX 1900
param set RC2_MIN 1099
param set RC2_TRIM 1500
param set RC2_REV -1
param set RC3_MAX 1900
param set RC3_MIN 1099
param set RC3_TRIM 1500
param set RC3_REV 1
param set RC4_MAX 1900
param set RC4_MIN 1099
param set RC4_TRIM 1500
param set RC4_REV -1
param set RC5_MAX 1900
param set RC5_MIN 1099
param set RC5_TRIM 1500
param set RC5_REV 1
param set RC6_MAX 1900
param set RC6_MIN 1099
param set RC6_TRIM 1099
param set RC6_REV 1
sensors start
param set MC_YAW_P 7.0
param set MC_YAWRATE_P 0.08
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.08
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.0001
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.08
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.0001
param set ATT_W_MAG 0.00
param set PE_MAG_NOISE 1.0f
param set SENS_BOARD_ROT 0
param set MPU_GYRO_LPF_ENUM 4
param set MPU_ACC_LPF_ENUM 4
param set MPU_SAMPLE_RATE_ENUM 2
sleep 1
mpu9x50 start -D /dev/spi-1
param set UART_ESC_MODEL 0
param set UART_ESC_BAUDRATE 250000
param set UART_ESC_PX4MOTOR1 2
param set UART_ESC_PX4MOTOR2 4
param set UART_ESC_PX4MOTOR3 1
param set UART_ESC_PX4MOTOR4 3
sleep 1
uart_esc start -D /dev/tty-2
csr_gps start -D /dev/tty-3
list_devices
list_files
list_tasks
list_topics
posix-configs/eagle/210qc/mainapp-calib.config
+8
View File
@@ -0,0 +1,8 @@
uorb start
muorb start
mavlink start -u 14556
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50
mavlink boot_complete
commander start
posix-configs/eagle/210qc/mainapp-flight.config
+7
View File
@@ -0,0 +1,7 @@
uorb start
muorb start
mavlink start -u 14556
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50
mavlink boot_complete
posix-configs/eagle/210qc/px4-calib.config
+72
View File
@@ -0,0 +1,72 @@
uorb start
param set CAL_GYRO0_ID 2293760
param set CAL_ACC0_ID 1310720
param set CAL_ACC1_ID 1376256
param set CAL_MAG0_ID 196608
param set RC_RECEIVER_TYPE 1
rc_receiver start -D /dev/tty-1
attitude_estimator_q start
position_estimator_inav start
mc_pos_control start
mc_att_control start
sleep 1
param set SYS_AUTOSTART 4001
param set SYS_AUTOCONFIG 1
param set MAV_TYPE 2​
param set RC_MAP_THROTTLE 1
param set RC_MAP_ROLL 2
param set RC_MAP_PITCH 3
param set RC_MAP_YAW 4
param set RC_MAP_MODE_SW 5
param set RC_MAP_POSCTL_SW 6
param set RC1_MAX 1900
param set RC1_MIN 1099
param set RC1_TRIM 1099
param set RC1_REV 1
param set RC2_MAX 1900
param set RC2_MIN 1099
param set RC2_TRIM 1500
param set RC2_REV -1
param set RC3_MAX 1900
param set RC3_MIN 1099
param set RC3_TRIM 1500
param set RC3_REV 1
param set RC4_MAX 1900
param set RC4_MIN 1099
param set RC4_TRIM 1500
param set RC4_REV -1
param set RC5_MAX 1900
param set RC5_MIN 1099
param set RC5_TRIM 1500
param set RC5_REV 1
param set RC6_MAX 1900
param set RC6_MIN 1099
param set RC6_TRIM 1099
param set RC6_REV 1
sensors start
param set MC_YAW_P 7.0
param set MC_YAWRATE_P 0.08
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.08
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.0001
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.08
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.0001
param set ATT_W_MAG 0.00
param set PE_MAG_NOISE 1.0f
param set SENS_BOARD_ROT 0
param set MPU_GYRO_LPF_ENUM 4
param set MPU_ACC_LPF_ENUM 4
param set MPU_SAMPLE_RATE_ENUM 2
sleep 1
mpu9x50 start -D /dev/spi-1
uart_esc start -D /dev/tty-2
csr_gps start -D /dev/tty-3
list_devices
list_files
list_tasks
list_topics
posix-configs/eagle/210qc/px4-flight.config
+95
View File
@@ -0,0 +1,95 @@
uorb start
param set CAL_GYRO0_ID 2293760
param set CAL_ACC0_ID 1310720
param set CAL_ACC1_ID 1376256
param set CAL_MAG0_ID 196608
commander start
param set RC_RECEIVER_TYPE 1
rc_receiver start -D /dev/tty-1
attitude_estimator_q start
position_estimator_inav start
mc_pos_control start
mc_att_control start
param set MC_YAW_P 12
param set MC_YAWRATE_P 0.08
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.08
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.001
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.08
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.001
sleep 1
param set RC_MAP_THROTTLE 1
param set RC_MAP_ROLL 2
param set RC_MAP_PITCH 3
param set RC_MAP_YAW 4
param set RC_MAP_MODE_SW 5
param set RC_MAP_POSCTL_SW 6
param set RC1_MAX 1900
param set RC1_MIN 1099
param set RC1_TRIM 1099
param set RC1_REV 1
param set RC2_MAX 1900
param set RC2_MIN 1099
param set RC2_TRIM 1500
param set RC2_REV -1
param set RC3_MAX 1900
param set RC3_MIN 1099
param set RC3_TRIM 1500
param set RC3_REV 1
param set RC4_MAX 1900
param set RC4_MIN 1099
param set RC4_TRIM 1500
param set RC4_REV -1
param set RC5_MAX 1900
param set RC5_MIN 1099
param set RC5_TRIM 1500
param set RC5_REV 1
param set RC6_MAX 1900
param set RC6_MIN 1099
param set RC6_TRIM 1099
param set RC6_REV 1
sensors start
param set ATT_W_MAG 0.00
param set PE_MAG_NOISE 1.0f
param set SENS_BOARD_ROT 0
param set MPU_GYRO_LPF_ENUM 4
param set MPU_ACC_LPF_ENUM 4
param set MPU_SAMPLE_RATE_ENUM 2
param set GYRO0_XOFF -0.0028
param set GYRO0_YOFF -0.0047
param set GYRO0_ZOFF -0.0034
param set GYRO0_XSCALE 1.0000
param set GYRO0_YSCALE 1.0000
param set GYRO0_ZSCALE 1.0000
param set MAG0_XOFF 0.0000
param set MAG0_YOFF 0.0000
param set MAG0_ZOFF 0.0000
param set MAG0_XSCALE 1.0000
param set MAG0_YSCALE 1.0000
param set MAG0_ZSCALE 1.0000
param set ACC0_XOFF -0.0941
param set ACC0_YOFF 0.1168
param set ACC0_ZOFF -0.0398
param set ACC0_XSCALE 1.0004
param set ACC0_YSCALE 0.9974
param set ACC0_ZSCALE 0.9951
sleep 1
mpu9x50 start -D /dev/spi-1
param set UART_ESC_MODEL 2
param set UART_ESC_BAUDRATE 250000
param set UART_ESC_PX4MOTOR1 4
param set UART_ESC_PX4MOTOR2 2
param set UART_ESC_PX4MOTOR3 1
param set UART_ESC_PX4MOTOR4 3
sleep 1
uart_esc start -D /dev/tty-2
csr_gps start -D /dev/tty-3
list_devices
list_files
list_tasks
list_topics
posix-configs/eagle/flight/mainapp-calib.config
+8
View File
@@ -0,0 +1,8 @@
uorb start
muorb start
mavlink start -u 14556
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50
mavlink boot_complete
commander start
posix-configs/eagle/flight/mainapp-flight.config
+7
View File
@@ -0,0 +1,7 @@
uorb start
muorb start
mavlink start -u 14556
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50
mavlink boot_complete
posix-configs/eagle/flight/px4-calib.config
+56
View File
@@ -0,0 +1,56 @@
uorb start
param set CAL_GYRO0_ID 2293760
param set CAL_ACC0_ID 1310720
param set CAL_ACC1_ID 1376256
param set CAL_MAG0_ID 196608
param set RC_RECEIVER_TYPE 1
rc_receiver start -D /dev/tty-1
attitude_estimator_q start
position_estimator_inav start
mc_pos_control start
mc_att_control start
sleep 1
param set RC_MAP_THROTTLE 1
param set RC_MAP_ROLL 2
param set RC_MAP_PITCH 3
param set RC_MAP_YAW 4
param set RC_MAP_MODE_SW 5
param set RC_MAP_POSCTL_SW 6
param set RC1_MAX 1900
param set RC1_MIN 1099
param set RC1_TRIM 1099
param set RC1_REV 1
param set RC2_MAX 1900
param set RC2_MIN 1099
param set RC2_TRIM 1500
param set RC2_REV -1
param set RC3_MAX 1900
param set RC3_MIN 1099
param set RC3_TRIM 1500
param set RC3_REV 1
param set RC4_MAX 1900
param set RC4_MIN 1099
param set RC4_TRIM 1500
param set RC4_REV -1
param set RC5_MAX 1900
param set RC5_MIN 1099
param set RC5_TRIM 1500
param set RC5_REV 1
param set RC6_MAX 1900
param set RC6_MIN 1099
param set RC6_TRIM 1099
param set RC6_REV 1
sensors start
param set ATT_W_MAG 0.00
param set PE_MAG_NOISE 1.0f
param set MPU_GYRO_LPF_ENUM 4
param set MPU_ACC_LPF_ENUM 4
param set MPU_SAMPLE_RATE_ENUM 2
sleep 1
mpu9x50 start -D /dev/spi-1
uart_esc start -D /dev/tty-2
csr_gps start -D /dev/tty-3
list_devices
list_files
list_tasks
list_topics
posix-configs/eagle/flight/px4-flight.config
+58
View File
@@ -0,0 +1,58 @@
uorb start
param set CAL_GYRO0_ID 2293760
param set CAL_ACC0_ID 1310720
param set CAL_ACC1_ID 1376256
param set CAL_MAG0_ID 196608
commander start
param set RC_RECEIVER_TYPE 1
rc_receiver start -D /dev/tty-1
attitude_estimator_q start
position_estimator_inav start
mc_pos_control start
mc_att_control start
sleep 1
param set RC_MAP_THROTTLE 1
param set RC_MAP_ROLL 2
param set RC_MAP_PITCH 3
param set RC_MAP_YAW 4
param set RC_MAP_MODE_SW 5
param set RC_MAP_POSCTL_SW 6
param set RC1_MAX 1900
param set RC1_MIN 1099
param set RC1_TRIM 1099
param set RC1_REV 1
param set RC2_MAX 1900
param set RC2_MIN 1099
param set RC2_TRIM 1500
param set RC2_REV -1
param set RC3_MAX 1900
param set RC3_MIN 1099
param set RC3_TRIM 1500
param set RC3_REV 1
param set RC4_MAX 1900
param set RC4_MIN 1099
param set RC4_TRIM 1500
param set RC4_REV -1
param set RC5_MAX 1900
param set RC5_MIN 1099
param set RC5_TRIM 1500
param set RC5_REV 1
param set RC6_MAX 1900
param set RC6_MIN 1099
param set RC6_TRIM 1099
param set RC6_REV 1
sensors start
param set ATT_W_MAG 0.00
param set PE_MAG_NOISE 1.0f
param set MPU_GYRO_LPF_ENUM 4
param set MPU_ACC_LPF_ENUM 4
param set MPU_SAMPLE_RATE_ENUM 2
sleep 1
mpu9x50 start -D /dev/spi-1
uart_esc start -D /dev/tty-2
csr_gps start -D /dev/tty-3
pressure start -D /dev/i2c-2
list_devices
list_files
list_tasks
list_topics
posix-configs/eagle/hil/mainapphil.config
+8
View File
@@ -0,0 +1,8 @@
uorb start
muorb start
mavlink start -u 14556
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50
mavlink boot_complete
simulator start -p
posix-configs/eagle/hil/px4.config
+53
View File
@@ -0,0 +1,53 @@
uorb start
param set CAL_GYRO0_ID 2293760
param set CAL_ACC0_ID 1310720
param set CAL_ACC1_ID 1376256
param set CAL_MAG0_ID 196608
commander start -hil
sensors start
attitude_estimator_q start
position_estimator_inav start
mc_pos_control start
mc_att_control start
sleep 1
pwm_out_sim mode_pwm
param set RC1_MAX 2015
param set RC1_MIN 996
param set RC1_TRIM 1502
param set RC1_REV -1
param set RC2_MAX 2016
param set RC2_MIN 995
param set RC2_TRIM 1500
param set RC3_MAX 2003
param set RC3_MIN 992
param set RC3_TRIM 992
param set RC4_MAX 2011
param set RC4_MIN 997
param set RC4_TRIM 1504
param set RC4_REV -1
param set RC6_MAX 2016
param set RC6_MIN 992
param set RC6_TRIM 1504
param set RC_CHAN_CNT 8
param set RC_MAP_MODE_SW 5
param set RC_MAP_POSCTL_SW 7
param set RC_MAP_RETURN_SW 8
param set MC_YAW_P 1.5
param set MC_PITCH_P 3.0
param set MC_ROLL_P 3.0
param set MC_YAWRATE_P 0.2
param set MC_PITCHRATE_P 0.03
param set MC_ROLLRATE_P 0.03
param set ATT_W_ACC 0.0002
param set ATT_W_MAG 0.002
param set ATT_W_GYRO_BIAS 0.05
sleep 1
param set MAV_TYPE 2
mixer load /dev/pwm_output0 /startup/quad_x.main.mix
list_devices
list_files
list_tasks
list_topics
sleep 10
list_tasks
sleep 10
src/firmware/posix/CMakeLists.txt
+30 -10
View File
@@ -1,17 +1,20 @@
include_directories(${CMAKE_CURRENT_BINARY_DIR})
px4_posix_generate_builtin_commands(
OUT apps.h
MODULE_LIST ${module_libraries})
add_executable(mainapp
${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
apps.h
)
if ("${BOARD}" STREQUAL "eagle")
FASTRPC_STUB_GEN(../qurt/px4muorb.idl)
if (NOT ${CMAKE_C_COMPILER_ID} STREQUAL "Clang" AND NOT APPLE)
target_link_libraries(mainapp
QURT_APP(
APP_NAME mainapp
IDL_NAME px4muorb
APPS_DEST "/home/linaro"
SOURCES
${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
apps.h
LINK_LIBS
-Wl,--start-group
${module_libraries}
df_driver_framework
@@ -20,10 +23,27 @@ if (NOT ${CMAKE_C_COMPILER_ID} STREQUAL "Clang" AND NOT APPLE)
-Wl,--end-group
)
else()
target_link_libraries(mainapp
${module_libraries}
pthread m
add_executable(mainapp
${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
apps.h
)
if (${CMAKE_C_COMPILER_ID} STREQUAL "Clang" AND NOT APPLE)
target_link_libraries(mainapp
-Wl,--start-group
${module_libraries}
df_driver_framework
${df_driver_libraries}
pthread m rt
-Wl,--end-group
)
else()
target_link_libraries(mainapp
${module_libraries}
df_driver_framework
${df_driver_libraries}
pthread m
)
endif()
endif()
add_custom_target(run_config
src/firmware/qurt/CMakeLists.txt
+11 -4
View File
@@ -6,6 +6,8 @@ px4_qurt_generate_builtin_commands(
OUT ${CMAKE_BINARY_DIR}/apps.h
MODULE_LIST ${module_libraries})
FASTRPC_STUB_GEN(px4muorb.idl)
# Enable build without HexagonSDK to check link dependencies
if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
add_definitions(-DQURT_EXE_BUILD)
@@ -13,12 +15,17 @@ if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
${CMAKE_SOURCE_DIR}/src/platforms/qurt/dspal/dspal_stub.c
${CMAKE_BINARY_DIR}/apps.h)
else()
QURT_BUNDLE(APP_NAME
mainapp
DSP_SOURCES
message("module_libraries = ${module_libraries}")
message("target_libraries = ${target_libraries}")
# Generate the DSP lib and stubs but not the apps side executable
# The Apps side executable is generated via the posix_eagle_xxxx target
QURT_LIB(APP_NAME mainapp
IDL_NAME px4muorb
SOURCES
${CMAKE_SOURCE_DIR}/src/platforms/qurt/dspal/dspal_stub.c
${CMAKE_BINARY_DIR}/apps.h
DSP_LINK_LIBS
LINK_LIBS
${module_libraries}
${target_libraries}
df_driver_framework
src/firmware/qurt/mainapp.idl
-41
View File
@@ -1,41 +0,0 @@
/****************************************************************************
* Copyright (c) 2015 Mark Charlebois. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name ATLFlight nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef MAINAPP_IDL
#define MAINAPP_IDL
#include "AEEStdDef.idl"
interface mainapp{
uint32 test();
};
#endif /*MAINAPP_IDL*/
src/include/mavlink/mavlink_log.h
+2 -2
View File
@@ -110,7 +110,7 @@ __EXPORT void mavlink_vasprintf(int _fd, int severity, const char *fmt, ...);
fprintf(stderr, "telem> "); \
fprintf(stderr, _text, ##__VA_ARGS__); \
fprintf(stderr, "\n"); } while(0);
/**
* Send a mavlink critical message and print to console.
*
@@ -121,7 +121,7 @@ __EXPORT void mavlink_vasprintf(int _fd, int severity, const char *fmt, ...);
fprintf(stderr, "telem> "); \
fprintf(stderr, _text, ##__VA_ARGS__); \
fprintf(stderr, "\n"); } while(0);
/**
* Send a mavlink emergency message and print to console.
*
src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+32
View File
@@ -400,6 +400,35 @@ void AttitudeEstimatorQ::task_main()
if (!_failsafe) {
uint32_t flags = DataValidator::ERROR_FLAG_NO_ERROR;
#ifdef __PX4_POSIX
perf_end(_perf_accel);
perf_end(_perf_mpu);
perf_end(_perf_mag);
#endif
if (_voter_gyro.failover_count() > 0) {
_failsafe = true;
flags = _voter_gyro.failover_state();
mavlink_and_console_log_emergency(_mavlink_fd, "Gyro #%i failure :%s%s%s%s%s!",
_voter_gyro.failover_index(),
((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " No data" : ""),
((flags & DataValidator::ERROR_FLAG_STALE_DATA) ? " Stale data" : ""),
((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " Data timeout" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) ? " High error count" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " High error density" : ""));
}
if (_voter_accel.failover_count() > 0) {
_failsafe = true;
flags = _voter_accel.failover_state();
mavlink_and_console_log_emergency(_mavlink_fd, "Accel #%i failure :%s%s%s%s%s!",
_voter_accel.failover_index(),
((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " No data" : ""),
((flags & DataValidator::ERROR_FLAG_STALE_DATA) ? " Stale data" : ""),
((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " Data timeout" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) ? " High error count" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " High error density" : ""));
}
#ifdef __PX4_POSIX
perf_end(_perf_accel);
@@ -607,8 +636,11 @@ void AttitudeEstimatorQ::task_main()
/* attitude quaternions for control state */
ctrl_state.q[0] = _q(0);
ctrl_state.q[1] = _q(1);
ctrl_state.q[2] = _q(2);
ctrl_state.q[3] = _q(3);
/* attitude rates for control state */
src/modules/commander/PreflightCheck.cpp
+8
View File
@@ -539,6 +539,14 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
}
}
#ifdef __PX4_QURT
// WARNING: Preflight checks are important and should be added back when
// all the sensors are supported
PX4_WARN("WARNING: Preflight checks PASS always.");
failed = false;
#endif
/* Report status */
return !failed;
}
src/modules/commander/commander.cpp
+16 -3
View File
@@ -687,7 +687,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
}
}
if (hil_ret != TRANSITION_DENIED && arming_ret != TRANSITION_DENIED && main_ret != TRANSITION_DENIED) {
if ((hil_ret != TRANSITION_DENIED) && (arming_ret != TRANSITION_DENIED) && (main_ret != TRANSITION_DENIED)) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
@@ -769,7 +769,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(mavlink_fd, "REJ CMD: %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f",
mavlink_log_critical(mavlink_fd, "REJ CMD: %.1f %.1f %.1f %.1f %.1f %.1f %.1f",
(double)cmd->param1,
(double)cmd->param2,
(double)cmd->param3,
@@ -1431,12 +1431,15 @@ int commander_thread_main(int argc, char *argv[])
pthread_attr_init(&commander_low_prio_attr);
pthread_attr_setstacksize(&commander_low_prio_attr, 2880);
#ifndef __PX4_QURT
struct sched_param param;
(void)pthread_attr_getschedparam(&commander_low_prio_attr, &param);
/* low priority */
param.sched_priority = SCHED_PRIORITY_DEFAULT - 50;
(void)pthread_attr_setschedparam(&commander_low_prio_attr, &param);
#endif
pthread_create(&commander_low_prio_thread, &commander_low_prio_attr, commander_low_prio_loop, NULL);
pthread_attr_destroy(&commander_low_prio_attr);
@@ -1607,6 +1610,11 @@ int commander_thread_main(int argc, char *argv[])
_usb_telemetry_active = true;
}
/* set (and don't reset) telemetry via USB as active once a MAVLink connection is up */
if (telemetry.type == telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_USB) {
_usb_telemetry_active = true;
}
if (telemetry.heartbeat_time > 0) {
telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
}
@@ -2188,8 +2196,13 @@ int commander_thread_main(int argc, char *argv[])
}
/* RC input check */
#ifndef __PX4_QURT
if (!status.rc_input_blocked && sp_man.timestamp != 0 &&
(hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f))) {
#else
// HACK: remove old data check due to timestamp issue in QURT
if (!status.rc_input_blocked && sp_man.timestamp != 0) {
#endif
/* handle the case where RC signal was regained */
if (!status.rc_signal_found_once) {
status.rc_signal_found_once = true;
@@ -2969,7 +2982,7 @@ set_control_mode()
/* set vehicle_control_mode according to set_navigation_state */
control_mode.flag_armed = armed.armed;
control_mode.flag_external_manual_override_ok = (!status.is_rotary_wing && !status.is_vtol);
control_mode.flag_system_hil_enabled = status.hil_state == vehicle_status_s::HIL_STATE_ON;
//control_mode.flag_system_hil_enabled = status.hil_state == vehicle_status_s::HIL_STATE_ON;
control_mode.flag_control_offboard_enabled = false;
switch (status.nav_state) {
src/modules/mc_pos_control/mc_pos_control_main.cpp
+11
View File
@@ -993,6 +993,10 @@ void MulticopterPositionControl::control_auto(float dt)
}
if (current_setpoint_valid) {
/* in case of interrupted mission don't go to waypoint but stay at current position */
_reset_pos_sp = true;
_reset_alt_sp = true;
/* scaled space: 1 == position error resulting max allowed speed */
math::Vector<3> scale = _params.pos_p.edivide(_params.vel_max); // TODO add mult param here
@@ -1187,6 +1191,13 @@ MulticopterPositionControl::task_main()
poll_subscriptions();
/* get current rotation matrix and euler angles from control state quaternions */
math::Quaternion q_att(_ctrl_state.q[0], _ctrl_state.q[1], _ctrl_state.q[2], _ctrl_state.q[3]);
_R = q_att.to_dcm();
math::Vector<3> euler_angles;
euler_angles = _R.to_euler();
_yaw = euler_angles(2);
parameters_update(false);
hrt_abstime t = hrt_absolute_time();
src/modules/muorb/adsp/module.mk
+5
View File
@@ -41,6 +41,11 @@ ifeq ($(PX4_TARGET_OS),qurt)
SRCS = \
px4muorb.cpp \
uORBFastRpcChannel.cpp
SRCS = param/param.c
endif
endif
SRCS += perf_counter.c \
INCLUDE_DIRS += \
${PX4_BASE}/src/modules/uORB
src/modules/muorb/krait/CMakeLists.txt
+3 -3
View File
@@ -30,9 +30,9 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
if("${DSPAL_STUBS_ENABLE}" STREQUAL "1")
include_directories(../krait-stubs)
endif()
#if("${DSPAL_STUBS_ENABLE}" STREQUAL "1")
# include_directories(../krait-stubs)
#endif()
px4_add_module(
MODULE modules__muorb__krait
src/modules/navigator/mission_block.cpp
+26
View File
@@ -417,6 +417,32 @@ MissionBlock::set_loiter_item(struct mission_item_s *item, float min_clearance)
}
}
void
MissionBlock::set_takeoff_item(struct mission_item_s *item, float min_clearance, float min_pitch)
{
item->nav_cmd = NAV_CMD_LOITER_UNLIMITED;
/* use current position and use return altitude as clearance */
item->lat = _navigator->get_global_position()->lat;
item->lon = _navigator->get_global_position()->lon;
item->altitude = _navigator->get_global_position()->alt;
if (min_clearance > 0.0f) {
item->altitude += min_clearance;
}
item->altitude_is_relative = false;
item->yaw = NAN;
item->loiter_radius = _navigator->get_loiter_radius();
item->loiter_direction = 1;
item->acceptance_radius = (_navigator->get_acceptance_radius() > min_clearance / 2.0f) ?
(min_clearance / 2) : _navigator->get_acceptance_radius();
item->time_inside = 0.0f;
item->pitch_min = min_pitch;
item->autocontinue = false;
item->origin = ORIGIN_ONBOARD;
}
void
MissionBlock::set_takeoff_item(struct mission_item_s *item, float min_clearance, float min_pitch)
{
src/modules/position_estimator_inav/position_estimator_inav_main.cpp
+8 -4
View File
@@ -81,6 +81,7 @@
#define MIN_VALID_W 0.00001f
#define PUB_INTERVAL 10000 // limit publish rate to 100 Hz
#define EST_BUF_SIZE 250000 / PUB_INTERVAL // buffer size is 0.5s
#define MAX_WAIT_FOR_BARO_SAMPLE 3000000 // wait 3 secs for the baro to respond
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
@@ -410,10 +411,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* wait for initial baro value */
bool wait_baro = true;
TerrainEstimator *terrain_estimator = new TerrainEstimator();
thread_running = true;
hrt_abstime baro_wait_for_sample_time = hrt_absolute_time();
while (wait_baro && !thread_should_exit) {
int ret = px4_poll(&fds_init[0], 1, 1000);
@@ -421,14 +422,17 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (ret < 0) {
/* poll error */
mavlink_log_info(mavlink_fd, "[inav] poll error on init");
PX4_WARN("INAV poll error");
} else if (ret > 0) {
} else if (hrt_absolute_time() - baro_wait_for_sample_time > MAX_WAIT_FOR_BARO_SAMPLE) {
wait_baro = false;
mavlink_log_info(mavlink_fd, "[inav] timed out waiting for a baro sample");
}
else if (ret > 0) {
if (fds_init[0].revents & POLLIN) {
orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
if (wait_baro && sensor.baro_timestamp[0] != baro_timestamp) {
baro_timestamp = sensor.baro_timestamp[0];
baro_wait_for_sample_time = hrt_absolute_time();
/* mean calculation over several measurements */
if (baro_init_cnt < baro_init_num) {
src/modules/simulator/simulator_mavlink.cpp
+11 -4
View File
@@ -530,8 +530,13 @@ void Simulator::pollForMAVLinkMessages(bool publish)
pthread_create(&sender_thread, &sender_thread_attr, Simulator::sending_trampoline, NULL);
pthread_attr_destroy(&sender_thread_attr);
mavlink_status_t udp_status = {};
mavlink_status_t serial_status = {};
// set the threads name
#ifdef __PX4_DARWIN
pthread_setname_np("sim_rcv");
#else
pthread_setname_np(pthread_self(), "sim_rcv");
#endif
bool sim_delay = false;
@@ -575,9 +580,10 @@ void Simulator::pollForMAVLinkMessages(bool publish)
if (len > 0) {
mavlink_message_t msg;
mavlink_status_t status;
for (int i = 0; i < len; i++) {
if (mavlink_parse_char(MAVLINK_COMM_0, _buf[i], &msg, &udp_status)) {
if (mavlink_parse_char(MAVLINK_COMM_0, _buf[i], &msg, &status)) {
// have a message, handle it
handle_message(&msg, publish);
}
@@ -591,9 +597,10 @@ void Simulator::pollForMAVLinkMessages(bool publish)
if (len > 0) {
mavlink_message_t msg;
mavlink_status_t status;
for (int i = 0; i < len; ++i) {
if (mavlink_parse_char(MAVLINK_COMM_1, serial_buf[i], &msg, &serial_status)) {
if (mavlink_parse_char(MAVLINK_COMM_0, serial_buf[i], &msg, &status)) {
// have a message, handle it
handle_message(&msg, true);
}
src/modules/systemlib/CMakeLists.txt
+6 -1
View File
@@ -36,7 +36,6 @@ include_directories(${CMAKE_BINARY_DIR}/src/modules/param)
set(SRCS
perf_counter.c
param/param.c
conversions.c
cpuload.c
pid/pid.c
@@ -57,8 +56,14 @@ if(${OS} STREQUAL "nuttx")
printload.c
up_cxxinitialize.c
)
elseif ("${CONFIG_SHMEM}" STREQUAL "1")
list(APPEND SRCS
param/param_shmem.c
print_load_posix.c
)
else()
list(APPEND SRCS
param/param.c
print_load_posix.c
)
endif()
src/modules/systemlib/bson/tinybson.c
+1 -7
View File
@@ -54,15 +54,9 @@
#define CODER_CHECK(_c) do { if (_c->dead) { debug("coder dead"); return -1; }} while(0)
#define CODER_KILL(_c, _reason) do { debug("killed: %s", _reason); _c->dead = true; return -1; } while(0)
#ifdef __PX4_QURT
#define BSON_READ px4_read
#define BSON_WRITE px4_write
#define BSON_FSYNC px4_fsync
#else
#define BSON_READ read
#define BSON_WRITE write
#define BSON_FSYNC fsync
#endif
#define BSON_FSYNC px4_fsync
static int
read_x(bson_decoder_t decoder, void *p, size_t s)
src/modules/systemlib/circuit_breaker_params.c
+2
View File
@@ -42,6 +42,8 @@
* parameter needs to set to the key (magic).
*/
#ifdef __PX4_QURT
/**
* Circuit breaker for power supply check
*
src/modules/systemlib/param/param_shmem.c
+1199
View File
File diff suppressed because it is too large Load Diff
src/modules/systemlib/system_params.c
+4
View File
@@ -37,6 +37,8 @@
* System wide parameters
*/
#ifdef __PX4_QURT
/**
* Auto-start script index.
*
@@ -111,3 +113,5 @@ PARAM_DEFINE_INT32(SYS_COMPANION, 157600);
* @group System
*/
PARAM_DEFINE_INT32(SYS_PARAM_VER, 1);
#endif
src/modules/uORB/uORBDevices_posix.cpp
+5 -19
View File
@@ -287,6 +287,7 @@ uORB::DeviceNode::ioctl(device::file_t *filp, int cmd, unsigned long arg)
case ORBIOCSETINTERVAL:
sd->update_interval = arg;
sd->last_update = hrt_absolute_time();
return PX4_OK;
case ORBIOCGADVERTISER:
@@ -405,7 +406,6 @@ uORB::DeviceNode::appears_updated(SubscriberData *sd)
* don't match then we might have a visible update.
*/
while (sd->generation != _generation) {
/*
* Handle non-rate-limited subscribers.
*/
@@ -426,31 +426,17 @@ uORB::DeviceNode::appears_updated(SubscriberData *sd)
break;
}
/*
* If the interval timer is still running, the topic should not
* appear updated, even though at this point we know that it has.
* We have previously been through here, so the subscriber
* must have collected the update we reported, otherwise
* update_reported would still be true.
*/
if (!hrt_called(&sd->update_call)) {
// If we have not yet reached the deadline, then assume that we can ignore any
// newly received data.
if (sd->last_update + sd->update_interval > hrt_absolute_time()) {
break;
}
/*
* Make sure that we don't consider the topic to be updated again
* until the interval has passed once more by restarting the interval
* timer and thereby re-scheduling a poll notification at that time.
*/
hrt_call_after(&sd->update_call,
sd->update_interval,
&uORB::DeviceNode::update_deferred_trampoline,
(void *)this);
/*
* Remember that we have told the subscriber that there is data.
*/
sd->update_reported = true;
sd->last_update = hrt_absolute_time();
ret = true;
break;
src/modules/uORB/uORBDevices_posix.hpp
+1
View File
@@ -111,6 +111,7 @@ private:
struct SubscriberData {
unsigned generation; /**< last generation the subscriber has seen */
unsigned update_interval; /**< if nonzero minimum interval between updates */
uint64_t last_update; /**< time at which the last update was provided, used when update_interval is nonzero */
struct hrt_call update_call; /**< deferred wakeup call if update_period is nonzero */
void *poll_priv; /**< saved copy of fds->f_priv while poll is active */
bool update_reported; /**< true if we have reported the update via poll/check */
src/platforms/posix/drivers/barosim/baro.cpp
+3 -1
View File
@@ -36,6 +36,8 @@
* Driver for the simulated barometric pressure sensor
*/
#define __STDC_FORMAT_MACROS
#include <inttypes.h>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_time.h>
@@ -389,7 +391,7 @@ BAROSIM::devRead(void *buffer, size_t buflen)
int
BAROSIM::devIOCTL(unsigned long cmd, unsigned long arg)
{
PX4_WARN("baro IOCTL %llu", hrt_absolute_time());
PX4_WARN("baro IOCTL %" PRIu64 , hrt_absolute_time());
switch (cmd) {

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